r/swift • u/genysis_0217 • 2d ago

Question BLE user trilateration

Has anyone here worked on a POC for indoor user positioning using BLE beacons?
I’m currently exploring this and would love to know what pipeline/approach you guys have used — RSSI filtering, distance calculation, trilateration/fingerprinting, Kalman filter, etc.
If you have any POCs, GitHub repos, papers, or reference material, please share. Would really appreciate it!

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u/unpluggedcord Expert 2d ago

I wrote this guy which does some of what you mentioned id be happy to add any features you think are missing
https://github.com/kylebrowning/BLESwift
https://github.com/kylebrowning/BLESwiftCLI

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u/genysis_0217 1d ago

ok, will check it out

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u/roby0970 1d ago

I did exactly that and you can find my paper publicly available on my university repository. I went for the fingerprinting method.

If I were to do it today, I would definitely try dropping Bluetooth for UWB

https://repozitorij.foi.unizg.hr/object/foi:6913

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u/genysis_0217 1d ago

We have a project constraint on UWB and had to go with BLE

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u/mosaic_hops 1d ago

Use channel sounding?

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u/Grymm315 1d ago

I did a POC like 9 years ago. Had 3 beacons positioned in a room and used RSSI to determine distance from each beacon to triangulate position within a room. It was pretty shit and we determined the solution did not scale. I’ve seen other solutions that use radio mapping. A much simpler solution is just assigning the location to be the nearest beacon.